Adaptive Backstepping Control for a Class of Nonlinear Multi-Agent Systems with Time-Varying Actuator Faults

This paper considers the tracking control design for a class of uncertain second-order nonlinear multi-agent systems. To eliminate the adverse effects of the unknown time-varying actuator faults, we propose a novel filter-based distributed fault-tolerant control scheme by utilizing the adaptation technology and backstepping control method. Then we prove that the developed approach not only achieves fault tolerance ability effectively but also guarantees the tracking performance well. Finally, the simulation results are provided to verify the effectiveness of the proposed method.